void LatentSvmDetector::detect( const Mat& image,
std::vector<ObjectDetection>& objectDetections,
float overlapThreshold,
int numThreads )
{
objectDetections.clear();
if( numThreads <= 0 )
numThreads = 1;
for( size_t classID = 0; classID < detectors.size(); classID++ )
{
IplImage image_ipl = image;
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* detections = cvLatentSvmDetectObjects( &image_ipl, detectors[classID], storage, overlapThreshold, numThreads );
// convert results
objectDetections.reserve( objectDetections.size() + detections->total );
for( int detectionIdx = 0; detectionIdx < detections->total; detectionIdx++ )
{
CvObjectDetection detection = *(CvObjectDetection*)cvGetSeqElem( detections, detectionIdx );
objectDetections.push_back( ObjectDetection(Rect(detection.rect), detection.score, (int)classID) );
}
cvReleaseMemStorage( &storage );
}
}
void DPMDetectorImpl::detect( Mat &image,
vector<ObjectDetection> &objectDetections)
{
objectDetections.clear();
for( size_t classID = 0; classID < detectors.size(); classID++ )
{
// detect objects
vector< vector<double> > detections;
detections = detectors[classID]->detect(image);
for (unsigned int i = 0; i < detections.size(); i++)
{
ObjectDetection ds = ObjectDetection();
int s = (int)detections[i].size() - 1;
ds.score = (float)detections[i][s];
int x1 = (int)detections[i][0];
int y1 = (int)detections[i][1];
int w = (int)detections[i][2] - x1 + 1;
int h = (int)detections[i][3] - y1 + 1;
ds.rect = Rect(x1, y1, w, h);
ds.classID = (int)classID;
objectDetections.push_back(ds);
}
}
}
int main(void)
{
/* Configure the oscillator both devices */
ConfigureOscillator();
/* Initialize IO ports and peripherals for both devices */
InitGPIO();
InitUART();
InitI2c();
InitI2cCompass();
/* Program for the bracelet */
#ifdef PROTECTED
/* Initialize IO ports and peripherals */
InitTimerUS();
/* The values of the magnetic field will be save in x and y */
s16 x = 0;
s16 y = 0;
while(1)
{
I2cReadData(&x, &y);
ComputeAngle(&angle, x, y);
PutData16(angle);
__delay_ms(500);
}
#endif
/* Program for the bodyguard*/
#ifdef BODY_GUARD
/* Initialize IO ports and peripherals */
InitADC();
InitPWM();
InitLcd();
InitTimerServo();
/* TODO <INSERT USER APPLICATION CODE HERE> */
u16 ADC_values[NMB_SENSORS];
u16 average[NMB_SENSORS];
u8 i;
u8 j;
/* The values of the magnetic field will be save in x and y */
s16 x = 0;
s16 y = 0;
u16 angle2=0;
char T[5];
memset(ADC_values,0x00,sizeof(ADC_values));
memset(average, 0x00,sizeof(average));
/*
for(i=0; i<NMB_SENSORS; i++)
{
ADC_values[i]=0;
}*/
LcdClear();
#if MAGNETIC_SENSOR
while(1)
{
I2cReadData(&x, &y);
angle2=((-atan2(x,y)*180)/3.14)+180;
/* Computes the angle using the arctan2 which provides an angle
* between -180° and 180°, then converts the result that is in radian
* into degree (*180/pi) and in the end add 180° so the angle is between
* 0° and 360° */
//LcdPutFloat(angle2,0);
LcdPutFloat(angle2,0);
LcdGoto(1,2);
LcdPutFloat(angle,0);
__delay_ms(500);
LcdClear();
}
#endif
#ifdef BODY_GUARD_MODE
while(1)
{
for(j=0; j<NMB_MEASURES; j++)
{
/* SENSORS SAMPLING */
for(i=0; i<NMB_SENSORS; i++)
{
StartADC(ADC_values);
}
ObjectDetection(ADC_values, average);
}
LcdClear();
LcdPutFloat(CCP2RB, 0);
//__delay_ms(1000);
LcdClear();
/* Set Flags */
ObjectReaction(average);
DistanceFlag(average[US]);
/* react */
AutoBodyGuard();
}
#endif
#ifdef AUTO_FLEE
while(1)
{
for(j=0; j<NMB_MEASURES; j++)
{
/* SENSORS SAMPLING */
for(i=0; i<NMB_SENSORS; i++)
{
StartADC(ADC_values);
}
ObjectDetection(ADC_values, average);
}
LcdClear();
/* Set Flags */
ObjectReaction(average);
//DistanceFlag(average[US]);
AutoFLee();
}
#endif
#endif
return 0;
}
